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<h1>angvec2tr</h1><p><span class="helptopic">Convert angle and vector orientation to a homogeneous transform</span></p><p>
<strong>T</strong> = <span style="color:red">angvec2tr</span>(<strong>theta</strong>, <strong>v</strong>) is a homogeneous transform matrix (4x4) equivalent to a
rotation of <strong>theta</strong> about the vector <strong>v</strong>.

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<h2>Note</h2>
<ul>
  <li>The translational part is zero.</li>
</ul>
<h2>See also</h2>
<p>
<a href="eul2tr.html">eul2tr</a>, <a href="rpy2tr.html">rpy2tr</a>, <a href="angvec2r.html">angvec2r</a>, <a href="tr2angvec.html">tr2angvec</a></p>
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